Incremental search reuses information from previous searches to find solutions to a series of similar search problems. It is potentially faster than solving each search problem from scratch. This is very important because many artificial intelligence systems have to adapt their plans continuously to changes in the world. If the changes are small, incremental search will be very efficient. BDD (binary decision diagram)-Based heuristic search combines the advantages of BDD-based search and heuristic search. Heuristic search impacts the size of the resulting search trees and BDDs can be used to efficiently describe the sets of states based on their binary encodings. This article first introduces BDD-based heuristic search and incremental search. Combining the two methods, it then gives a BDD-based incremental heuristic search algorithm BDDRPA*. The experimental results show that BDDRPA* is a very efficient incremental heuristic search algorithm. It can be used to solve many problems like symbolic replanning and robot navigation problems and so on.